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New SDF objective function.

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This solves the jittery behavior observed with the gear example in the case of small applied torques (~0.5).

The new quadratic option has the form max(A, 0)^2/2 + max(B, 0)^2/2 - min(A, 0)*min(B, 0). This function has a minimum in the intersections of two SDFs A and B, while avoiding the flat areas which would be generated if only the clearance field A+B were employed. See for example [the function resulting from two colliding circles](https://www.wolframalpha.com/input?i=minimize+max%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29%5E2+%2B+max%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29%5E2+-+2*min%28sqrt%28x%5E2%2By%5E2%29-1%2C0%29*min%28sqrt%28%28x-1%29%5E2%2B%28y-1%29%5E2%29-1%2C0%29)

PiperOrigin-RevId: 583992855
Change-Id: I135a1b5931cd136d7d33cc275f8d361a8b7e290c
This commit is contained in:
Alessio Quaglino
2023-11-20 05:05:42 -08:00
committed by Copybara-Service
parent 98082ae7f9
commit dbf44fe2b4
4 changed files with 44 additions and 11 deletions
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doc/XMLreference.rst
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@@ -1877,7 +1877,7 @@ adjust it properly through the XML.
.. _option-sdf_initpoints:
:at:`sdf_initpoints`: :at-val:`int, "40"`
Number of starting points used for fining contacts with Signed Distance Field collisions.
Number of starting points used for finding contacts with Signed Distance Field collisions.
.. _option-actuatorgroupdisable: